| — | Ray Harryhausen: Working With Dinosaurs | narrator |
| 2024 | Doctor Who: The Legend of Ruby Sunday & Empire of Death | The Doctor (archive footage) (uncredited) |
| 2024 | Doctor Who: The Final Battle | The Doctor (archive footage) |
| 2023 | Tales of the Tardis | The Doctor (4) |
| 2023 | Talking Doctor Who | Self / The Doctor (4) (archive footage) |
| 2021 | Panopticon Destiny – The Matrix Files | |
| 2020 | Our Sarah Jane – Elisabeth Sladen Tribute | Self |
| 2019 | Geek, and You Shall Find | The Doctor (archive footage) |
| 2019 | The Magnificent Obsession of Michael Reeves | Himself |
| 2018 | Tom Baker in Conversation | |
| 2018 | Doctor Who: Galactic Glitter | Narrator |
| 2014 | Doctor Who: The Ultimate Companion | Self / The Doctor (archive footage) |
| 2013 | Doctor Who: The Doctors Revisited | Self |
| 2006 | The Wind in the Willows | Judge |
| 2000 | Randall & Hopkirk (Deceased) | Prof. Wyvern |
| 1998 | Backtime | Sarge |
| 1992 | Doctor Who: Shada | The Doctor / Narrator |
| 1990 | Hyperland | Tom |
| 1990 | Cluedo | Professor Plum |
| 1984 | The Zany Adventures of Robin Hood | Sir Guy de Gisbourne |
| 1982 | Doctor Who: Earthshock | The Doctor (4) (archive footage) |
| 1982 | The Hound of the Baskervilles | Sherlock Holmes |
| 1982 | Doctor Who: Castrovalva | The Doctor (archive footage) |
| 1981 | Doctor Who: Logopolis | The Doctor |
| 1981 | Doctor Who: The Keeper of Traken | The Doctor |
| 1979 | Doctor Who: City of Death | The Doctor |
| 1979 | Doctor Who: Destiny of the Daleks | The Doctor |
| 1978 | Doctor Who: The Pirate Planet | The Doctor |
| 1978 | Doctor Who: The Ribos Operation | The Doctor |
| 1978 | Doctor Who: The Invasion of Time | The Doctor |
| 1978 | Doctor Who: The Stones of Blood | The Doctor |
| 1978 | Doctor Who: The Androids of Tara | The Doctor |
| 1977 | Doctor Who: The Talons of Weng-Chiang | The Doctor |
| 1977 | Doctor Who: Das Gesicht des Bösens | The Doctor / Xoanon |
| 1977 | Doctor Who: The Robots of Death | The Doctor |
| 1977 | Doctor Who: Horror of Fang Rock | The Doctor |
| 1977 | Doctor Who: The Invisible Enemy | The Doctor |
| 1977 | Doctor Who: The Sun Makers | The Doctor |
| 1977 | Doctor Who: Image of the Fendahl | The Doctor |
| 1976 | Doctor Who: The Deadly Assassin | The Doctor |
| 1976 | Doctor Who: The Brain of Morbius | The Doctor |
| 1976 | Doctor Who: The Masque of Mandragora | The Doctor |
| 1976 | Doctor Who: Die Hand der Angst | The Doctor |
| 1975 | Doctor Who: The Sontaran Experiment | The Doctor |
| 1975 | Doctor Who: Terror of the Zygons | The Doctor |
| 1975 | Doctor Who: Planet of Evil | The Doctor |
| 1974 | Doctor Who: Planet of the Spiders | The Doctor |
| 1965 | BBC Play of the Month | Egyptian Doctor |
| — | Have I Got a Bit More News for You | Himself - Presenter |
| 2017 | Doctor Who: Shada | The Doctor |
| 2017 | Panopticon Genesis | |
| 2017 | The Doctors: The Tom Baker Years | |
| 2015 | Little Britain Sketch | Narrator |
| 2014 | Star Wars Rebels | Bendu (voice) |
| 2013 | Doctor Who: Der Tag des Doktors | The Doctor (4) (archive footage) / The Curator |
| 2013 | The Five(ish) Doctors Reboot | The Doctor (archive footage) |
| 2013 | Doctor Who Live: The Afterparty | Self |
| 2008 | Family Guy - Blue Harvest | The Doctor (archive footage) |
| 2008 | Little Britain USA | |
| 2008 | Blackadder's Most Cunning Moments | Captain Rum/Self |
| 2008 | Celebration: Doctor Who in 1983 | (archival footage) |
| 2007 | The Beeps | Narrator |
| 2006 | Little Britain Live | Narrator (Voice) |
| 2006 | The Secret Show | |
| 2006 | A History of Flight | Narrator (voice) |
| 2006 | Global Haywire | Narrator (voice) |
| 2006 | It Started with Swap Shop | Self (voice) |
| 2006 | Paranormal Pigeons | Self |
| 2005 | Doctor Who | The Curator |
| 2005 | The Magic Roundabout | Zeebad (voice) |
| 2005 | Doctor Who Confidential | Self |
| 2005 | Tom Baker’s Beyond Belief! | |
| 2005 | Doctor Who: A New Dimension | Self |
| 2004 | The Little Reindeer | Santa Claus (voice) |
| 2004 | The History Channel Presents: The Race To The Moon | Narrator |
| 2003 | Little Britain | Narrator |
| 2003 | Strange | |
| 2003 | Swiss Toni | |
| 2003 | The Story of Doctor Who | |
| 2001 | Fun at the Funeral Parlour | |
| 2001 | The Home Whovian | |
| 2001 | Longleat '83: The Greatest Show in the Galaxy | Himself (archive footage) |
| 2000 | Dungeons & Dragons | Halvarth |
| 2000 | Monarch of the Glen | Donald MacDonald |
| 1999 | Eurotika! | Self |
| 1999 | The Millennium Oak | Narrator |
| 1999 | Adventures in Space and Time | Himself |
| 1999 | Carnival of Monsters | |
| 1997 | Who is Tom Baker? Unauthorised | |
| 1997 | A Sci Fi Audience with Tom Baker | Self |
| 1993 | Doctor Who: Dimensions in Time | The 4th Doctor |
| 1992 | The Law Lord | Sir Lionel Sweeting |
| 1992 | Doctor Who: The Tom Baker Years | Himself |
| 1991 | Hitler zu verkaufen | Manfred Fischer |
| 1991 | Hitler zu verkaufen | Manfred Fischer |
| 1991 | Who on Earth Is... Tom Baker | Himself |
| 1990 | The Chronicles of Narnia: The Silver Chair | Puddleglum |
| 1990 | Medics | Prof. Geoffrey Hoyt, general surgeon |
| 1990 | Ray Harryhausen: Movement Into Life | Narrator |
| 1990 | The Silver Chair | Puddleglum |
| 1989 | Die Wölfe von Willoby | Narrator (voice) |
| 1989 | Myth Makers 17: Tom Baker | |
| 1989 | Babcock Transformers | Narrator |
| 1989 | Christian | |
| 1988 | Die Chroniken von Narnia | Puddleglum |
| 1986 | The Life and Loves of a She-Devil | Father Ferguson |
| 1986 | Who's Who | |
| 1985 | Enemy Mine - Geliebter Feind | Narrator (voice) |
| 1985 | Doctor Who's Who's Who | Doctor Who |
| 1984 | The Passionate Pilgrim | The Lord |
| 1983 | Blackadder | Captain Rum |
| 1983 | Natural World | Narrator |
| 1983 | Doctor Who: Die Fünf Doktoren | The Doctor (4) (archive footage) |
| 1983 | Into Another Dimension | Narrator |
| 1982 | The Kenny Everett Television Show | Self |
| 1981 | Doctor Who: Warriors' Gate | The Doctor |
| 1980 | Der Fluch des Tut-Ench-Amun | Hasan |
| 1980 | Doctor Who: Full Circle | The Doctor |
| 1980 | Doctor Who: The Horns of Nimon | The Doctor |
| 1980 | Doctor Who: The Leisure Hive | The Doctor |
| 1980 | Doctor Who: State of Decay | The Doctor |
| 1980 | Doctor Who: Meglos | The Doctor / Meglos |
| 1979 | Doctor Who: The Armageddon Factor | The Doctor |
| 1979 | Doctor Who: Nightmare of Eden | The Doctor |
| 1979 | Doctor Who: The Creature from the Pit | The Doctor |
| 1979 | Doctor Who: The Power of Kroll | The Doctor |
| 1978 | Doctor Who: Underworld | The Doctor |
| 1978 | Late Night Story | self |
| 1977 | Whose Doctor Who | |
| 1976 | Doctor Who: The Seeds of Doom | The Doctor |
| 1976 | L'auteur de Beltraffio | Mark Ambient |
| 1976 | Nouvelles d'Henry James | Mark Ambient |
| 1975 | Doctor Who: Genesis of the Daleks | The Doctor |
| 1975 | Doctor Who: Pyramids of Mars | Fourth Doctor |
| 1975 | Doctor Who: Robot | The Doctor |
| 1975 | Doctor Who: The Ark in Space | The Doctor |
| 1975 | Doctor Who: Die Rache der Cybermen | Doctor Who |
| 1975 | Doctor Who: The Android Invasion | The Doctor |
| 1975 | Jim'll Fix It | |
| 1974 | Das Labor des Grauens | Lynch |
| 1974 | Frankenstein: The True Story | Sea Captain |
| 1974 | Luther | Pope Leo X |
| 1973 | Sindbads gefährliche Abenteuer | Prince Koura |
| 1973 | In der Schlinge des Teufels | Moore (segment 5 "Drawn and Quartered") |
| 1973 | Frankenstein wie er wirklich war | Sea Captain |
| 1973 | Liebe Eltern | Karl |
| 1972 | Pasolinis tolldreiste Geschichten | Jenkin |
| 1972 | König Arthur | |
| 1972 | The Millionairess | Dr. Ahmed el Kabir |
| 1971 | Nikolaus und Alexandra | Rasputin |
| 1968 | The Winter's Tale | |
| 1966 | Task Force Police | |
| 1963 | Doctor Who | |
| 1963 | Doctor Who | The Doctor |
| 1962 | Z-Cars | |
| 1955 | Dixon of Dock Green | The Man |
| 1955 | Dixon of Dock Green | Foreman |
